niklashcs/Threading_D0_threading_d0_2026-04-11_10-24-29
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下载链接：
https://hf-mirror.com/datasets/niklashcs/Threading_D0_threading_d0_2026-04-11_10-24-29
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=niklashcs/Threading_D0_threading_d0_2026-04-11_10-24-29">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 500,
"total_frames": 112019,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"eef_delta_pos_x",
"eef_delta_pos_y",
"eef_delta_pos_z",
"eef_delta_rot_rx",
"eef_delta_rot_ry",
"eef_delta_rot_rz",
"gripper_action"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"robot0_eef_pos_0",
"robot0_eef_pos_1",
"robot0_eef_pos_2",
"robot0_eef_quat_0",
"robot0_eef_quat_1",
"robot0_eef_quat_2",
"robot0_eef_quat_3",
"robot0_gripper_qpos_0"
]
},
"observation.state.eef_pos": {
"dtype": "float32",
"shape": [
3
],
"names": [
"robot0_eef_pos_0",
"robot0_eef_pos_1",
"robot0_eef_pos_2"
]
},
"observation.state.eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"robot0_eef_quat_0",
"robot0_eef_quat_1",
"robot0_eef_quat_2",
"robot0_eef_quat_3"
]
},
"observation.state.gripper_qpos": {
"dtype": "float32",
"shape": [
1
],
"names": [
"robot0_gripper_qpos_0"
]
},
"observation.state.object": {
"dtype": "float32",
"shape": [
28
],
"names": [
"object_0",
"object_1",
"object_2",
"object_3",
"object_4",
"object_5",
"object_6",
"object_7",
"object_8",
"object_9",
"object_10",
"object_11",
"object_12",
"object_13",
"object_14",
"object_15",
"object_16",
"object_17",
"object_18",
"object_19",
"object_20",
"object_21",
"object_22",
"object_23",
"object_24",
"object_25",
"object_26",
"object_27"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证：Apache-2.0
任务类别：机器人学
标签：LeRobot
配置项：
- 配置名称：default
数据文件路径：data/*/*.parquet
本数据集基于[LeRobot (LeRobot)](https://github.com/huggingface/lerobot)构建。
用户可点击以下链接可视化本数据集：<https://huggingface.co/spaces/lerobot/visualize_dataset?path=niklashcs/Threading_D0_threading_d0_2026-04-11_10-24-29>，配套提供了适配明暗显示模式的可视化徽章。
## 数据集说明
- **主页**：[待补充更多信息]
- **论文**：[待补充更多信息]
- **许可证**：Apache-2.0
## 数据集结构
元数据文件为`meta/info.json`，其完整内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 500,
"total_frames": 112019,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [7],
"names": ["eef_delta_pos_x", "eef_delta_pos_y", "eef_delta_pos_z", "eef_delta_rot_rx", "eef_delta_rot_ry", "eef_delta_rot_rz", "gripper_action"]
},
"next.done": {
"dtype": "bool",
"shape": [1],
"names": ["done"]
},
"observation.state": {
"dtype": "float32",
"shape": [8],
"names": ["robot0_eef_pos_0", "robot0_eef_pos_1", "robot0_eef_pos_2", "robot0_eef_quat_0", "robot0_eef_quat_1", "robot0_eef_quat_2", "robot0_eef_quat_3", "robot0_gripper_qpos_0"]
},
"observation.state.eef_pos": {
"dtype": "float32",
"shape": [3],
"names": ["robot0_eef_pos_0", "robot0_eef_pos_1", "robot0_eef_pos_2"]
},
"observation.state.eef_quat": {
"dtype": "float32",
"shape": [4],
"names": ["robot0_eef_quat_0", "robot0_eef_quat_1", "robot0_eef_quat_2", "robot0_eef_quat_3"]
},
"observation.state.gripper_qpos": {
"dtype": "float32",
"shape": [1],
"names": ["robot0_gripper_qpos_0"]
},
"observation.state.object": {
"dtype": "float32",
"shape": [28],
"names": ["object_0", "object_1", "object_2", "object_3", "object_4", "object_5", "object_6", "object_7", "object_8", "object_9", "object_10", "object_11", "object_12", "object_13", "object_14", "object_15", "object_16", "object_17", "object_18", "object_19", "object_20", "object_21", "object_22", "object_23", "object_24", "object_25", "object_26", "object_27"]
},
"observation.images.top": {
"dtype": "video",
"shape": [84, 84, 3],
"names": ["height", "width", "channel"],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [84, 84, 3],
"names": ["height", "width", "channel"],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [1],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [1],
"names": null
}
}
}
## 引用
**BibTeX格式引用：**
bibtex
[待补充更多信息]
提供机构：
niklashcs
